Remote feature activation in power machines

ABSTRACT

Implementations of the present disclosure are generally directed to activating features in power machines. More particularly, implementations of the present disclosure are directed to remote activation of features in power machines. Implementations include, methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for transmitting a request for an initialization indicator for a software package from an initialization system of a power machine comprising hardware physically capable of executing at least one function, the request being transmitted, by a communication link of the initialization system, from a machine controller of the initialization system to a remote system, communicating, by the communication link, the initialization indicator from the remote system to the machine controller, and in response to receiving the initialization indicator: storing, by the machine controller, the initialization indicator, and executing, by the machine controller, the software package to control the at least one function.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/541,965, entitled “Remote Feature Activation In Power Machines,”filed Aug. 15, 2019, which claims the benefit under 35 U.S.C. § 119(e)of U.S. Patent Application No. 62/764,731, entitled “Remote FeatureActivation In Power Machines,” filed Aug. 15, 2018, which areincorporated herein by reference in their entirety.

BACKGROUND

This disclosure is directed toward power machines. Power machines, forthe purposes of this disclosure, include any type of machine thatgenerates power to accomplish a particular task or a variety of tasks.One type of power machine is a work vehicle. Work vehicles are generallyself-propelled vehicles that have a work device, such as a lift arm(although some work vehicles can have other work devices) that can bemanipulated to perform a work function. Work vehicles include loaders,excavators, utility vehicles, tractors, and trenchers, to name a fewexamples. Some such power machines can include one or more optionalfunctions. In some examples, a function can include a physical activitythat the power machine requires one or more hardware components, and asoftware package to perform.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

Implementations of the present disclosure are generally directed toactivating features in power machines. More particularly,implementations of the present disclosure are directed to remoteactivation of features in power machines.

In some implementations, a power machine includes hardware physicallycapable of executing at least one function, and a machine controllerabsent an initialized software package to enable execution of the atleast one function, the machine controller receiving instructions toperform operations that can include initializing the software package,and selectively enabling execution of the at least one function byexecuting instructions of the software package. Other implementations ofthis aspect include corresponding systems, apparatus, and computerprograms, configured to perform the actions of the methods, encoded oncomputer storage devices.

In another general aspect, innovative features of the subject matterdescribed in this specification can be embodied in methods that includeactions of transmitting a request for an initialization indicator for asoftware package from an initialization system of a power machinecomprising hardware physically capable of executing at least onefunction, the request being transmitted, by a communication link of theinitialization system, from a machine controller of the initializationsystem to a remote system. The actions include communicating, by thecommunication link, the initialization indicator from the remote systemto the machine controller, and in response to receiving theinitialization indicator: storing, by the machine controller, theinitialization indicator, and executing, by the machine controller, thesoftware package to control the at least one function. Otherimplementations of this aspect include corresponding systems, apparatus,and computer programs, configured to perform the actions of the methods,encoded on computer storage devices.

These and other implementations can each optionally include one or moreof the following features. In some implementations, the requestcomprises one or more of an identifier of the power machine, anidentifier of the software package, and one or more credentials of auser. In some implementations, the actions include subsequentlydisabling the software package. In some implementations, disabling thesoftware package is executed in response to one of expiration of aperiod of time and a user request. In some implementations, theinitialization indicator includes the period of time. In someimplementations, the software package is executed in response todetermining that the power machine includes the hardware. In someimplementations, the hardware comprises at least one of ride controlhardware and a variable displacement hydraulic motor. In someimplementations, the actions include upon receiving the initializationindicator, enabling the machine controller to execute softwarepreviously loaded onto the machine controller.

Another general aspect can be embodied in an initialization system forpower machine having hardware physically capable of executing at leastone function. The initialization system includes a machine controllerand a communication link. The machine controller has a non-volatilememory storing a software package with instructions that, when executed,can control the at least one function. The communication link isexternal to the machine controller and capable of establishingcommunication between the machine controller and a remote system, thecommunication link communicating a request for an initializationindicator from the machine controller to the remote system andcommunicating the initialization indicator from the remote system to themachine controller. The remote system provides the initializationindicator to the machine controller via the communication link andstores information related to provision of the initialization indicatorto the machine controller, and when the machine controller receives andstores the initialization indicator, the machine controller is enabledto execute instructions of the software package to control the at leastone function.

These and other implementations can each optionally include one or moreof the following features. In some implementations, the request includesone or more of an identifier of the power machine, an identifier of thesoftware package, and one or more credentials of a user. In someimplementations, the machine controller subsequently disables thesoftware package. In some implementations, disabling the softwarepackage is executed in response to one of expiration of a period of timeand a user request. In some implementations, the initializationindicator includes the period of time. In some implementations, thesoftware package is executed in response to determining that the powermachine includes the hardware. In some implementations, the hardwarecomprises at least one of ride control hardware and a variabledisplacement hydraulic motor. In some implementations, at least aportion of the communication link is removably attached to the powermachine. In some implementations, the communication link includes acontroller in wireless communication with the portion of thecommunication link that is removably attached to the power machine. Insome implementations, the communication link is fixed to the powermachine. In some implementations, upon receiving the initializationindicator, the machine controller is enabled to execute softwarepreviously loaded onto the machine controller.

This Summary and the Abstract are provided to introduce a selection ofconcepts in a simplified form that are further described below in theDetailed Description. This Summary is not intended to identify keyfeatures or essential features of the claimed subject matter, nor arethey intended to be used as an aid in determining the scope of theclaimed subject matter.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram illustrating functional systems of arepresentative power machine on which embodiments of the presentdisclosure can be advantageously practiced.

FIGS. 2-3 illustrate perspective views of a representative power machinein the form of a skid-steer loader of the type on which the disclosedembodiments can be practiced.

FIG. 4 is a block diagram illustrating components of a power system of aloader such as the loader illustrated in FIGS. 2-3 .

FIG. 5 is a block diagram of an example lift arm control system.

FIG. 6 depicts an example process that can be executed in accordancewith implementations of the present disclosure.

DETAILED DESCRIPTION

The concepts disclosed in this discussion are described and illustratedby referring to example implementations. These concepts, however, arenot limited in their application to the details of construction and thearrangement of components in the illustrative implementations, and arecapable of being practiced or being carried out in various other ways.The terminology in this document is used for the purpose of descriptionand should not be regarded as limiting. Words such as “including,”“comprising,” and “having” and variations thereof as used herein aremeant to encompass the items listed thereafter, equivalents thereof, aswell as additional items.

Implementations of the present disclosure are generally directed toactivating features in power machines. More particularly,implementations of the present disclosure are directed to remoteactivation of features in power machines. As described in further detailherein, a power machine in accordance with implementations of thepresent disclosure can include hardware physically capable of executingat least one function, and a machine controller absent an initializedsoftware package to enable execution of the at least one function, themachine controller receiving instructions to perform operations that caninclude initializing the software package, and selectively enablingexecution of the at least one function by executing instructions of thesoftware package.

These concepts can be practiced on various power machines, as will bedescribed below. A representative power machine on which implementationsof the present disclosure can be practiced is illustrated in diagramform in FIG. 1 , and a non-limiting example of such a power machine isillustrated in FIGS. 2-3 , and described below before detaileddescription of implementations of the present disclosure. For the sakeof brevity, only one power machine is illustrated and discussed as beinga representative power machine. However, it is contemplated thatimplementations of the present disclosure can be realized on anyappropriate power machines, including power machines of different typesfrom the representative power machine shown in FIGS. 2-3 . Powermachines, for the purposes of this discussion, include a frame, at leastone work element, and a power source that can provide power to the workelement to accomplish a work task. One type of power machine is aself-propelled work vehicle. Self-propelled work vehicles are a class ofpower machines that include a frame, work element, and a power sourcethat can provide power to the work element. At least one of the workelements is a motive system for moving the power machine under power.

FIG. 1 is a block diagram that illustrates a power machine 100, which isrepresentative of any of a number of different types of power machines,upon which the implementations of the present disclosure can beadvantageously incorporated. The block diagram of FIG. 1 identifiesvarious systems on the power machine 100, and the relationship betweenvarious components and systems. In some examples, power machines caninclude a frame, a power source, and a work element. The power machine100 has a frame 110, a power source 120, and a work element 130. Becausethe power machine 100 shown in FIG. 1 is a self-propelled work vehicle,it also has tractive elements 140, which are themselves work elementsprovided to move the power machine 100 over a support surface. In someexamples, the power machine 100 also includes an operator station 150that provides an operating position for controlling the work elements ofthe power machine 100. A control system 160 is provided to interact withthe other systems to perform various work tasks at least in part inresponse to control signals provided by an operator.

Certain work vehicles have work elements that can perform a dedicatedtask. For example, some work vehicles have a lift arm to which animplement such as a bucket is attached such as by a pinning arrangement.The work element, i.e., the lift arm can be manipulated to position theimplement to perform the task. The implement can be positioned relativeto the work element, such as by rotating a bucket relative to a liftarm, to further position the implement. Under normal operation of such awork vehicle, the bucket is intended to be attached and under use. Suchwork vehicles may be able to accept other implements by disassemblingthe implement/work element combination and reassembling anotherimplement in place of the original bucket. Other work vehicles, however,are intended to be used with a wide variety of implements and have animplement interface such as implement interface 170 shown in FIG. 1 . Atits most basic, implement interface 170 is a connection mechanismbetween the frame 110 or a work element 130 and an implement, which canbe as simple as a connection point for attaching an implement directlyto the frame 110 or a work element 130 or more complex, as discussedbelow.

On some power machines, implement interface 170 can include an implementcarrier, which is a physical structure movably attached to a workelement. The implement carrier has engagement features and lockingfeatures to accept and secure any of a number of different implements tothe work element. One characteristic of such an implement carrier isthat once an implement is attached to it, it is fixed to the implement(i.e. not movable with respect to the implement) and when the implementcarrier is moved with respect to the work element, the implement moveswith the implement carrier. The term implement carrier as used herein isnot merely a pivotal connection point, but rather a dedicated devicespecifically intended to accept and be secured to various differentimplements. The implement carrier itself is mountable to a work element130 such as a lift arm or the frame 110. An implement interface 170 canbe provided, and can include one or more power sources for providingpower to one or more work elements on an implement. Some power machinescan have a plurality of work element with implement interfaces, each ofwhich may, but need not, have an implement carrier for receivingimplements. Some other power machines can have a work element with aplurality of implement interfaces so that a single work element canaccept a plurality of implements simultaneously. Each of these implementinterfaces can, but need not, have an implement carrier.

The frame 110 includes a physical structure that can support variousother components that are attached thereto or positioned thereon. Theframe 110 can include any number of individual components. Some powermachines have frames that are rigid. That is, no part of the frame ismovable with respect to another part of the frame. Other power machineshave at least one portion that can move with respect to another portionof the frame. For example, excavators can have an upper frame portionthat rotates with respect to a lower frame portion. Other work vehicleshave articulated frames such that one portion of the frame pivots withrespect to another portion for accomplishing steering functions.

The frame 110 supports the power source 120, which is configured toprovide power to one or more work elements 130 including the one or moretractive elements 140, as well as, in some instances, providing powerfor use by an attached implement via implement interface 170. Power fromthe power source 120 can be provided directly to any of the workelements 130, tractive elements 140, and/or implement interfaces 170. Insome examples, power from the power source 120 can be provided to acontrol system 160, which in turn selectively provides power to theelements that are capable of using it to perform a work function. Powersources for power machines typically include an engine, such as aninternal combustion engine, and a power conversion system, such as amechanical transmission or a hydraulic system that is configured toconvert the output from an engine into a form of power that is usable bya work element. Other types of power sources can be incorporated intopower machines, including electrical sources or a combination of powersources, known generally as hybrid power sources.

FIG. 1 shows a single work element designated as work element 130, butvarious power machines can have any number of work elements. Workelements are typically attached to the frame of the power machine andmovable with respect to the frame when performing a work task. Inaddition, tractive elements 140 are a special case of work element inthat their work function is generally to move the power machine 100 overa support surface. Tractive elements 140 are shown separate from thework element 130, because many power machines have additional workelements besides tractive elements, although that is not always thecase. Power machines can have any number of tractive elements, some orall of which can receive power from the power source 120 to propel thepower machine 100. Tractive elements can be, for example, trackassemblies, wheels attached to an axle, and the like. Tractive elementscan be mounted to the frame such that movement of the tractive elementis limited to rotation about an axle (so that steering is accomplishedby a skidding action) or, alternatively, pivotally mounted to the frameto accomplish steering by pivoting the tractive element with respect tothe frame.

In some examples, the operator station 150 includes an operatingposition, from which an operator can control operation of the powermachine. In some power machines, the operator station 150 is defined byan enclosed or partially enclosed cab. Some power machines on which thedisclosed implementations may be practiced may not have a cab or anoperator compartment of the type described above. For example, a walkbehind loader may not have a cab or an operator compartment, but ratheran operating position that serves as an operator station from which thepower machine is properly operated. More broadly, power machines otherthan work vehicles may have operator stations that are not necessarilysimilar to the operating positions and operator compartments referencedabove. Further, some power machines, such as the power machine 100 andothers, whether or not they have operator compartments or operatorpositions, may be capable of being operated remotely (i.e. from aremotely located operator station) instead of or in addition to anoperator station adjacent or on the power machine. This can includeapplications where at least some of the operator controlled functions ofthe power machine can be operated from an operating position associatedwith an implement that is coupled to the power machine. Alternatively,with some power machines, a remote-control device can be provided (i.e.remote from both of the power machine and any implement to which is itcoupled) that is capable of controlling at least some of the operatorcontrolled functions on the power machine.

FIGS. 2-3 illustrate a loader 200, which is one particular example of apower machine of the type illustrated in FIG. 1 , in whichimplementations of the present disclosure can be advantageouslyemployed. The loader 200 is a skid-steer loader, which is a loader thathas tractive elements (in this case, four wheels) that are mounted tothe frame of the loader by rigid axles. Here the phrase “rigid axles”refers to the fact that the skid-steer loader 200 does not have anytractive elements that can be rotated or steered to help the loaderaccomplish a turn. Instead, a skid-steer loader has a drive system thatindependently powers one or more tractive elements on each side of theloader so that by providing differing tractive signals to each side, themachine will tend to skid over a support surface. These varying signalscan even include powering tractive element(s) on one side of the loaderto move the loader in a forward direction and powering tractiveelement(s) on another side of the loader to mode the loader in a reversedirection so that the loader will turn about a radius centered withinthe footprint of the loader itself. The term “skid-steer” hastraditionally referred to loaders that have skid steering as describedabove with wheels as tractive elements. However, it should be noted thatmany track loaders also accomplish turns via skidding and aretechnically skid-steer loaders, even though they do not have wheels. Forthe purposes of this discussion, unless noted otherwise, the termskid-steer should not be seen as limiting the scope of the discussion tothose loaders with wheels as tractive elements.

The loader 200 is one particular example of the power machine 100illustrated broadly in FIG. 1 and discussed above. To that end, featuresof loader 200 described herein include reference numbers that aregenerally similar to those used in FIG. 1 . For example, the loader 200is described as having a frame 210, just as the power machine 100 has aframe 110. The loader 200 is described herein to provide a reference forunderstanding one environment, on which the embodiments described belowrelated to track assemblies and mounting elements for mounting the trackassemblies to a power machine may be practiced. The loader 200 shouldnot be considered limiting especially as to the description of featuresthat loader 200 may have described herein that are not essential to thedisclosed embodiments and thus may or may not be included in powermachines other than loader 200 upon which the embodiments disclosedbelow may be advantageously practiced. Unless specifically notedotherwise, implementations of the present disclosure can be practiced ona variety of power machines, with the loader 200 being only one of thosepower machines. For example, some or all of the concepts discussed belowcan be practiced on many other types of work vehicles such as variousother loaders, excavators, trenchers, and dozers, to name but a fewexamples.

The loader 200 includes the frame 210 that supports a power system 220,the power system being capable of generating or otherwise providingpower for operating various functions on the power machine. The powersystem 220 is shown in block diagram form, but is located within theframe 210. The frame 210 also supports a work element in the form of alift arm assembly 230 that is powered by the power system 220 and thatcan perform various work tasks. As the loader 200 is a work vehicle, theframe 210 also supports a traction system 240, which is also powered bypower system 220, and can propel the power machine over a supportsurface. The lift arm assembly 230 in turn supports an implementinterface 270, which includes an implement carrier 272 that can receiveand secure various implements to the loader 200 for performing variouswork tasks. Power couplers 274 are provided, to which an implement canbe coupled for selectively providing power to an implement that might beconnected to the loader. Power couplers 274 can provide sources ofhydraulic or electric power or both. The loader 200 includes a cab 250that defines an operator station 255, from which an operator canmanipulate various control devices 260 to cause the power machine toperform various work functions. Cab 250 can be pivoted back about anaxis that extends through mounts 254 to provide access to power systemcomponents as needed for maintenance and repair.

The operator station 255 includes an operator seat 258 and a pluralityof operation input devices, including control levers 260 that anoperator can manipulate to control various machine functions. Operatorinput devices can include buttons, switches, levers, sliders, pedals andthe like that can be stand-alone devices such as hand operated levers orfoot pedals or incorporated into hand grips or display panels, includingprogrammable input devices. Actuation of operator input devices cangenerate signals in the form of electrical signals, hydraulic signals,and/or mechanical signals. Signals generated in response to operatorinput devices are provided to various components on the power machinefor controlling various functions on the power machine. Among thefunctions that are controlled by operator input devices on the powermachine 100 include control of the tractive elements 219, the lift armassembly 230, the implement carrier 272, and providing signals to anyimplement that may be operably coupled to the implement.

Loaders can include human-machine interfaces including display devicesthat are provided in the cab 250 to give indications of informationrelatable to the operation of the power machines in a form that can besensed by an operator, such as, for example audible and/or visualindications. Audible indications can be made in the form of buzzers,bells, and the like, and/or by verbal communication. Visual indicationscan be made in the form of graphs, lights, icons, gauges, alphanumericcharacters, and the like. Displays can be dedicated to providingdedicated indications, such as warning lights or gauges, or dynamic toprovide programmable information, including programmable display devicessuch as monitors of various sizes and capabilities. Display devices canprovide diagnostic information, troubleshooting information,instructional information, and various other types of information thatassists an operator with operation of the power machine or an implementcoupled to the power machine. Other information that may be useful foran operator can also be provided. Other power machines, such walk behindloaders may not have a cab nor an operator compartment, nor a seat. Theoperator position on such loaders is generally defined relative to aposition where an operator is best suited to manipulate operator inputdevices.

Various power machines that can include and/or interacting with theimplementations discussed below can have various different framecomponents that support various work elements. The elements of the frame210 discussed herein are provided for illustrative purposes and theframe 210 is not the only type of frame that a power machine on whichthe implementations of the present disclosure can be practiced. Theframe 210 of the loader 200 includes an undercarriage or lower portion211 of the frame, and a mainframe or upper portion 212 of the frame thatis supported by the undercarriage. In some examples, the mainframe 212of the loader 200 is attached to the undercarriage 211, such as withfasteners or by welding the undercarriage to the mainframe.Alternatively, the mainframe 212 and undercarriage 211 can be integrallyformed. The mainframe 212 includes a pair of upright portions 214A and214B located on either side and toward the rear of the mainframe thatsupport lift arm assembly 230, and to which the lift arm assembly 230 ispivotally attached. The lift arm assembly 230 is illustratively pinnedto each of the upright portions 214A and 214B. The combination ofmounting features on the upright portions 214A and 214B and the lift armassembly 230, and mounting hardware (including pins used to pin the liftarm assembly to the mainframe 212) are collectively referred to asjoints 216A and 216B (one is located on each of the upright portions214) for the purposes of this discussion. The joints 216A and 216B arealigned along an axis 218 so that the lift arm assembly is capable ofpivoting, as discussed below, with respect to the frame 210 about axis218. Other power machines may not include upright portions on eitherside of the frame, or may not have a lift arm assembly that is mountableto upright portions on either side and toward the rear of the frame. Forexample, some power machines may have a single arm, mounted to a singleside of the power machine or to a front or rear end of the powermachine. Other machines can have a plurality of work elements, includinga plurality of lift arms, each of which is mounted to the machine in itsown configuration. The frame 210 also supports a pair of tractiveelements in the form of wheels 219A-D on either side of the loader 200.

The lift arm assembly 230 shown in FIGS. 2-3 is one example of manydifferent types of lift arm assemblies that can be attached to a powermachine such as loader 200 or other power machines on whichimplementations of the present disclosure can be practiced. The lift armassembly 230 is what is known as a vertical lift arm, meaning that thelift arm assembly 230 is moveable (i.e. the lift arm assembly can beraised and lowered) under control of the loader 200 with respect to theframe 210 along a lift path 237 that forms a generally vertical path.Other lift arm assemblies can have different geometries and can becoupled to the frame of a loader in various ways to provide lift pathsthat differ from the radial path of lift arm assembly 230. For example,some lift paths on other loaders provide a radial lift path. Other liftarm assemblies can have an extendable or telescoping portion. Otherpower machines can have a plurality of lift arm assemblies attached totheir frames, with each lift arm assembly being independent of theother(s). Unless specifically stated otherwise, none of the inventiveconcepts set forth in this discussion are limited by the type or numberof lift arm assemblies that are coupled to a particular power machine.

The lift arm assembly 230 has a pair of lift arms 234 that are disposedon opposing sides of the frame 210. A first end of each of the lift arms234 is pivotally coupled to the power machine at joints 216 and a secondend 232B of each of the lift arms is positioned forward of the frame 210when in a lowered position as shown in FIG. 2 . Joints 216 are locatedtoward a rear of the loader 200 so that the lift arms extend along thesides of the frame 210. The lift path 237 is defined by the path oftravel of the second end 232B of the lift arms 234 as the lift armassembly 230 is moved between a minimum and maximum height.

Each of the lift arms 234 has a first portion 234A of each lift arm 234is pivotally coupled to the frame 210 at one of the joints 216 and thesecond portion 234B extends from its connection to the first portion234A to the second end 232B of the lift arm assembly 230. The lift arms234 are each coupled to a cross member 236 that is attached to the firstportions 234A. Cross member 236 provides increased structural stabilityto the lift arm assembly 230. A pair of actuators 238, which, on theloader 200, are hydraulic cylinders configured to receive pressurizedfluid from power system 220, are pivotally coupled to both the frame 210and the lift arms 234 at pivotable joints 238A and 238B, respectively,on either side of the loader 200. The actuators 238 are sometimesreferred to individually and collectively as lift cylinders. Actuation(i.e., extension and retraction) of the actuators 238 cause the lift armassembly 230 to pivot about joints 216 and thereby be raised and loweredalong a fixed path illustrated by arrow 237. Each of a pair of controllinks 217 are pivotally mounted to the frame 210 and one of the liftarms 232 on either side of the frame 210. The control links 217 help todefine the fixed lift path of the lift arm assembly 230.

Some lift arms, most notably lift arms on excavators but also possibleon loaders, may have portions that are controllable to pivot withrespect to another segment instead of moving in concert (i.e. along apre-determined path) as is the case in the lift arm assembly 230 shownin FIG. 2 . Some power machines have lift arm assemblies with a singlelift arm, such as is known in excavators or even some loaders and otherpower machines. Other power machines can have a plurality of lift armassemblies, each being independent of the other(s).

An implement interface 270 is provided proximal to a second end 232B ofthe lift arm assembly 234. The implement interface 270 includes animplement carrier 272 that is capable of accepting and securing avariety of different implements to the lift arm 230. Such implementshave a complementary machine interface that is configured to be engagedwith the implement carrier 272. The implement carrier 272 is pivotallymounted at the second end 232B of the arm 234. Implement carrieractuators 235 are operably coupled the lift arm assembly 230 and theimplement carrier 272 and are operable to rotate the implement carrierwith respect to the lift arm assembly. The implement carrier actuators235 are illustratively hydraulic cylinders and often known as tiltcylinders.

By having an implement carrier capable of being attached to a pluralityof different implements, changing from one implement to another can beaccomplished with relative ease. For example, machines with implementcarriers can provide an actuator between the implement carrier and thelift arm assembly, so that removing or attaching an implement does notinvolve removing or attaching an actuator from the implement or removingor attaching the implement from the lift arm assembly. The implementcarrier 272 provides a mounting structure for easily attaching animplement to the lift arm (or other portion of a power machine) that alift arm assembly without an implement carrier does not have.

Some power machines can have implements or implement-like devicesattached to it such as by being pinned to a lift arm with a tiltactuator also coupled directly to the implement or implement typestructure. A common example of such an implement that is rotatablypinned to a lift arm is a bucket, with one or more tilt cylinders beingattached to a bracket that is fixed directly onto the bucket such as bywelding or with fasteners. Such a power machine does not have animplement carrier, but rather has a direct connection between a lift armand an implement.

The implement interface 270 also includes an implement power source 274available for connection to an implement on the lift arm assembly 230.The implement power source 274 includes pressurized hydraulic fluid portto which an implement can be removably coupled. The pressurizedhydraulic fluid port selectively provides pressurized hydraulic fluidfor powering one or more functions or actuators on an implement. Theimplement power source can also include an electrical power source forpowering electrical actuators and/or an electronic controller on animplement. In some examples, the implement power source 274 alsoincludes electrical conduits that are in communication with a data buson the excavator 200 to enable communication between a controller on animplement and electronic devices on the loader 200.

The frame 210 supports and generally encloses the power system 220 sothat the various components of the power system 220 are not visible inFIGS. 2-3 . FIG. 4 includes, among other things, a diagram of variouscomponents of the power system 220. In the depicted example, the powersystem 220 includes one or more power sources 222 that are capable ofgenerating, and/or storing power for use on various machine functions.On the power machine 200, the power system 220 includes an internalcombustion engine. Other power machines can include electric generators,rechargeable batteries, various other power sources or any combinationof power sources that can provide power for given power machinecomponents. The power system 220 also includes a power conversion system224, which is operably coupled to the power source 222. The powerconversion system 224 is, in turn, coupled to one or more actuators 226,which can perform a function on the power machine. Power conversionsystems in various power machines can include various components,including mechanical transmissions, hydraulic systems, and the like. Thepower conversion system 224 of power machine 200 includes a pair ofhydrostatic drive pumps 224A and 224B, which are selectivelycontrollable to provide a power signal to drive motors 226A and 226B.The drive motors 226A and 226B in turn are each operably coupled toaxles, with drive motor 226A being coupled to axles 228A and 228B anddrive motor 226B being coupled to axles 228C and 228D. The axles 228A-Dare in turn coupled to tractive elements 219A-D, respectively. The drivepumps 224A and 224B can be mechanically, hydraulic, and/or electricallycoupled to operator input devices to receive actuation signals forcontrolling the drive pumps.

The arrangement of drive pumps, motors, and axles in power machine 200is but one example of an arrangement of these components. As discussedabove, the power machine 200 is depicted as a skid-steer loader, andthus tractive elements on each side of the power machine are controlledtogether by the output of a single hydraulic pump, either through asingle drive motor as in the power machine 200, or with individual drivemotors. Various other configurations and combinations of hydraulic drivepumps and motors can be employed as may be advantageous.

The power conversion system 224 of the power machine 200 also includes ahydraulic implement pump 224C, which is also operably coupled to thepower source 222. The hydraulic implement pump 224C is operably coupledto work actuator circuit 238C. Work actuator circuit 238 includes liftcylinders 238 and tilt cylinders 235 as well as control logic to controlactuation thereof. The control logic selectively allows, in response tooperator inputs, for actuation of the lift cylinders and/or tiltcylinders. In some machines, the work actuator circuit also includescontrol logic to selectively provide a pressurized hydraulic fluid to anattached implement. The control logic of power machine 200 includes anopen center, 3-spool valve in a series arrangement. The spools arearranged to give priority to the lift cylinders, then the tiltcylinders, and then pressurized fluid to an attached implement.

The description of power machine 100 and loader 200 above is providedfor illustrative purposes, to provide illustrative environments on whichimplementations of the present disclosure can be practiced. While theimplementations of the present disclosure can be practiced on a powermachine, such as is generally described by the power machine 100 shownin the block diagram of FIG. 1 and more particularly on a loader such astrack loader 200, unless otherwise noted or recited, the conceptsdiscussed below are not intended to be limited in their application tothe environments specifically described above.

In accordance with implementations of the present disclosure, powermachines, such as the power machine 100 of FIG. 1 , and the loader 200of FIGS. 2-3 , can include multiple functions that require bothhardware, and software to be performed. That is, to execute a particularfunction, hardware for physically performing the function, and softwarefor initiating and controlling the function are required. In someimplementations, a power machine can be delivered (e.g. to a dealer, toa customer) with the hardware required to perform a function, but absentthe requisite software.

In view of the foregoing, implementations of the present disclosureenable remote activation of one or more functions. More particularly,implementations of the present disclosure are directed to remoteinstallation and/or uninstallation of software packages to enableexecution of respective functions by the power machine. In furtherdetail, and with non-limiting reference to the example loader 200 ofFIGS. 2-3 , the loader 200 can include one or more controllers. In someimplementations, the controllers are used to control one or morefunctions, which induce actuation of various components to perform avariety of tasks. Example functions can include, without limitation,engine function, drive, loader controls (e.g., lift and tilt),attachment or implement control, and the like.

As introduced above, multiple functions can be provided for the loader200 with only a subset of functions being enabled. For example, when theloader 200 is provisioned to a customer, less than all functions of theloader 200 can be enabled for use by the customer. In some examples, aset of functions that can be controlled by a controller on the loader200 are optionally provided on the loader 200. The set of functions caninclude, without limitation, multi-speed drive motors, high flowhydraulics, ride control, and a reversing fan. To implement each ofthese example functions, both mechanical components, and softwarecomponents are required. The loader 200 includes the mechanicalcomponents necessary to provide the functions in the set of functions.However, unless the controllers are initialized, and/or programmed tocontrol the mechanical components to perform the functions, thefunctions cannot be performed. That is, for example, although themechanical components that perform the functions might be provisioned onthe loader 200, the functions cannot be performed without thecontroller(s) being programmed to control the mechanical components toperform the functions. In this manner, although the loader 200,including all of the mechanical components to perform the functions areprovisioned to the customer, the customer cannot use the loader 200 toperform the functions absent specific programming of the controller(s).The loader 200 or other power machines, in some examples can includeother functions that can be enabled through software packages that aredownloadable to the controller(s). For example, engines can beprogrammed to set the available horsepower. The function of certain userinputs can be changed in response to software packages that aredownloaded to controllers or, in some examples, the enablement ofpreviously downloaded software packages. This includes, withoutlimitation, on some power machines, a travel pedal that is convertedfrom controlling a hydraulic drive pump when actuated to controllingboth the drive pump and engine speed. In addition, through softwarepackage downloading and or initialization of previously downloadedsoftware packages, allowing for different control rates on lift and/ortilt actuators. These are just some examples of functions that can beenabled through the systems and methods discussed herein.

In further detail, and as introduced above, an example function caninclude multi-speed drive. By way of non-limiting example, multi-speed(e.g., two-speed) drive motors can be provided as hydraulic motors withmultiple displacement settings. In some examples, a low range (e.g.,high displacement) provides additional torque, but a lower top speedthan a high range (e.g., low displacement). In a loader, such as theloader 200, an operator can use a controller to toggle between the lowrange, and the high range depending on the work the operator isperforming (e.g., digging, moving the loader to a new position). In someexamples, a shift between ranges can be performed in response to otherinputs or sensed conditions. A loader equipped with this option willhave a user input, two-speed motors, and associated wiring and otherincidental components. However, if the controller is not programmed toenable shifting between ranges, the motors will remain in a single range(e.g., low) at all times.

In some implementations, high-flow hydraulics can be provided, and isrelated to the amount of hydraulic flow provided to an implement. Insome examples, an open center, series control valve is provided, whichreceives pressurized fluid from an implement pump, and provideshydraulic fluid to the implement. For example, the control valve canprovide hydraulic fluid to lift cylinder(s) for a lift arm, tiltcylinder(s) for a tilt mechanism, and then to the implement. In someexamples, the implement pump is separate from drive pumps that areprovided to the drive circuits. Because some implements require higherflow than what would be provided to the lift and tilt cylinders, aseparate, high flow pump can be included that can selectively provideadditional flow to the implement. This can occur, for example, when auser input is engaged (e.g., the user controls the high flow), or if anattachment controller communicates a request for high flow to a machinecontroller. A loader with this option will have a user input, a highflow pump, and associated hydraulic circuitry to provide additional flowout of couplers that can be attached to hydraulic lines on an implement.However, if the controller is not programmed to enable high-flow, thisfunction cannot be used.

Another example function includes ride control. In some examples, ridecontrol enables the lift arm to act as a suspension for a loader. Insome examples, a loader does not include a suspension system. Instead,the axles are rigidly mounted to the frame. Ride control enables thelift arm to move freely (e.g., up, down) un-commanded as the loader ismoving over the ground. This movement of the lift arm provides somesmoothing of a ride, as the lift arm absorbs some of the shock impartedto the machine as it moves over rough terrain.

In further detail, and with reference to FIG. 1 , as the power machine100 travels over terrain under the influence of the tractive elements140, bumps in the terrain give rise to vibrations and shock(collectively, “impact loads”) to the frame 110. Other impact loads canbe imparted to the frame 110 through movement of attached workimplements, or the lift arms themselves even when the machine isstationary (i.e. not traveling). The impact loads can propagatethroughout the power machine 100 and into the operator station 150,causing discomfort to the operator in the operator station 150. Ridecontrol is described in further detail in commonly assigned, WO2016176547 A1, the disclosure of which is expressly incorporated hereinby reference for all purposes.

With reference to FIG. 5 , an example lift arm control system 500includes a hydraulic actuator 520 that can be used to control movementof a lift arm. Extension and retraction of the hydraulic actuator 520causes the lift arm to pivot about joints. In the depicted example, thelift arm control system 500 further includes a reservoir 560, a pump565, and a lift control valve 570. The hydraulic actuator 520 includes acylinder body 230 having a base end 530 a and a rod end 530 b. Thecylinder body 530 houses a piston 510 that is moveable with the cylinderbody 530. A rod 522 is attached to the piston 510 and extends from therod end 530 b of the cylinder body 530. The piston 510 moves within thecylinder body 530 to linearly move the rod 520 along its axis so that itcan extend from and retract into the cylinder body 530.

In use for ride control, the piston 510 and the rod 522 to move withinthe cylinder body 530 so that the lift arm can move up and down inreaction to impact loads. The lift arm movement gives rise to reactiveloads that oppose the impact loads to cancel or dampen the impact loadsand improve operator comfort. The lift arm control system 500 includesan enable switch 580 (e.g., physical switch/dial, GUI on a display), acontroller 582, a pressure sensor 584, a ride control hydraulic circuit586, an accumulator 588, or other suitable storage device capable ofstoring pressurized hydraulic fluid, and a reservoir 590. The enableswitch 580 is a manual operator switch preferably located in theoperator station 150. When the operator wishes to turn ride controlfunctionality on or off, the operator manually adjusts the enable switch580 to “enable” and “disable” positions, respectively. The controller582 may be a dedicated controller for the ride control system, or may bepart of the overall control system 160 of the power machine 100described above. The pressure sensor 584 senses the pressure ofhydraulic fluid communicating with the one end, in this example whereextension of the actuator causes the lift arm to be raised, the base end530 a of the cylinder body 530. The controller 582 takes as inputs the“enable” or “disable” signal from the enable switch 580, and a pressuresignal from the pressure sensor 584. The input signals may be electronicsignals or signals of another kind (e.g., pressure signals or mechanicalsignals) suitable for a particular application. An enable signal fromthe enable switch 580 turns on the ride control system. When the ridecontrol system is turned on, signals from the controller 582 selectivelyactuate the ride control feature by activating and de-activating theride control hydraulic circuit 586. When the ride control hydrauliccircuit 586 is activated, the hydraulic actuator 520 is placed in fluidcommunication with the accumulator 588 and the reservoir 590. When theride control hydraulic circuit 586 is de-activated, the actuator 520 isnot in fluid communication with the accumulator 588 and reservoir 590.

The ride control hydraulic circuit 586 of FIG. 5 includes a firsthydraulic circuit 586 a, which acts like a switch between theaccumulator 588 and the actuator 520, and a second hydraulic circuit 586b, which acts like a switch between the reservoir 590 and the actuator520. The hydraulic circuits 586 a, 586 b can be any configuration thatselectively allows flow therethrough, including a two-position, two-wayvalve, which allows flow in one position and blocks flow in the otherposition. Any number of different hydraulic circuits can be employed.The base-side hydraulic circuit 586 a opens and closes communicationbetween the base end 530 a of the cylinder 530 and the accumulator 588,and the rod-side hydraulic circuit 586 b opens and closes communicationbetween the rod end 530 b and the reservoir 590. For ride control to beon, both the first hydraulic circuit 586 a and the second hydrauliccircuit 586 b must be activated. Consequently, the ride controlhydraulic circuit 586 can take a single input from the controller 582 tosimultaneously activate circuits 586 a, 586 b. The reservoir 590 can bea dedicated tank or can communicate with or be part of another reservoir(e.g., the reservoir 560).

When the ride control feature is active, impact loads that areintroduced to the power machine 100 will cause the lift arm to move upand down, and hydraulic fluid is displaced between the base end 530 aand the accumulator 588 through the base-side hydraulic circuit 586 a.Simultaneously, hydraulic fluid is displaced between the reservoir 590and the rod side 530 b through the rod-side hydraulic circuit 586 b.When hydraulic fluid is forced into the accumulator 588 as the rod 522retracts into the cylinder body 530, pressure increases in theaccumulator 588. As forces on the rod 522 and pressure in theaccumulator 588 change, the accumulator 588 is able to force hydraulicfluid back into the base end 530 a. The pressure sensor 584 measures thepressure at the base end 530 a of the cylinder body 530. The pressurereading is an indication of the load on the lift arm, which may indicatewhether the lift arm is raised above a lowest position (i.e. off ofmechanical stops), or whether the lift arm has been lowered. It may alsoindicate whether a large load is being carried by an implement (e.g., abucket).

In accordance with implementations of the present disclosure, thecontrol system (e.g., the controller 582) can be selectively programmedto activate and de-activate the ride control function. In some examples,the loader is provisioned to a customer without the control system beingprogrammed to enable the ride control function. Consequently, andalthough the requisite mechanical components are provided (e.g., theenable switch 580, the pressure sensor 584, the hydraulic circuit 586,the accumulator 588, the reservoir 590), the ride control functioncannot be executed (e.g., the operator can activate the enable switch580, but nothing with respect to ride control occurs). However, if thecontrol system is programmed for the ride control function, the ridecontrol function can be selectively enabled by the operator.

Another example function includes activation of a reversing fan. Thereversing fan can be described as a cooling fan on the loader. In someexamples, the reversing fan draws air through one or more heatexchangers (e.g., oil cooler and radiator), and pushes the air throughthe engine compartment. In some examples, the heat exchangers aremounted horizontally above the engine. In response to an input from anoperator, the fan can change directions to blow air through the heatexchangers (instead of drawing it through them). This enables the fan toblow debris that may have accumulated on or in the heat exchangers. Insome examples, a valve is provided to control the direction of the fanmotor (e.g., provided as a hydraulic motor), and an enable switch (e.g.,physical switch/dial, GUI on a display) is provided that the user canuse to control the direction.

Although multiple example functions have been described herein, it iscontemplated that implementations of the present disclosure can berealized with any appropriate functions that can be provisioned on apower machine, such as a loader.

In accordance with implementations of the present disclosure, thecontrol system can be selectively programmed to activate and de-activatethe reversing fan function. In some examples, the loader is provisionedto a customer without the control system being programmed to enable thereversing fan function. Consequently, and although the requisitemechanical components are provided (e.g., the enable switch, the valve),the reversing fan function cannot be executed (e.g., the operator canactivate the enable switch, but nothing with respect to ride controloccurs). However, if the control system is programmed for the reversingfan function, the reversing fan function can be selectively enabled bythe operator.

In view of the foregoing, implementations of the present disclosure aredirected to initialization systems that provide the ability forselective enabling or disabling of one or more functions of a powermachine. For example, instead of having the control system programmed toenable all functions in the set of functions at a factory (e.g., wherethe power machine is made), the functions can be selectively enabled (ordisabled) downstream (e.g., at a dealer, at an owner, at an operator).That is, one or more of the functions can be selectively enabled, ordisabled in the field. The process of enabling (or disabling) softwarefunctions, in some examples, includes downloading a software package (ordeleting a software package) and potentially initializing (oruninitializing) the software package so that its functionality isincluded into (or excluded from) the control system operation.

In some implementations, a computing device is provided thatcommunicates with the control system of the power machine. In someexamples, a user uses the computing device to communicate with one ormore controllers of the power machine. For example, the computing devicecan communicate with a control system (e.g., the control system 160 ofFIG. 1 ), and/or a function-specific controller (e.g., the controller582 of FIG. 5 ). In some examples, the power machine includes acontroller area network (CAN) bus or other appropriate communicationlink that enables two or more controllers of the power machine tocommunicate with one another. In some examples, the computing device isable to interface with the CAN bus to communicate with the one or morecontrollers through the CAN bus. While the power machine, in someexamples, may include more than one controller that will communicatewith the computing device, for simplicity's sake, the one or morecontrollers will be referred to as a “machine controller” hereinafter.

In some examples, communication between the computing device and themachine controller is provided as a wired connection. For example, thepower machine can include a plug for receiving a cable that enableselectrical communication between the machine controller and thecomputing device. In some examples, communication between the computingdevice, and the machine controller is provided as a wireless connection.For example, the power machine can include one or more components (e.g.,Wifi transceiver, Bluetooth transceiver, near-field communication (NFC)transceiver) that enables communication with the computing device.

In some examples, the computing device can communicate with the machinecontroller over the Internet. For example, machine controller can beconnected to the Internet (e.g., wired connection to a router using alocal area network (LAN) cable, wifi connection to a router), and thecomputing device can transmit requests to, and receive responses fromthe machine controller (e.g., through a hypertext transfer protocol(HTTP)). As another example, the machine controller can communicatedirectly with the computing device over a wireless connection (e.g.,Bluetooth, NFC) avoiding intermediate devices (e.g., routers, gateways,servers).

In some implementations, the user can interact with the computing deviceto send requests to, and receive responses from, the machine controller.In some implementations, the user can interact with the computing deviceto download software packages to, and/or delete software packages fromthe controller(s). For example, the user can use the computing device toinstruct a controller to install a software package or initialize analready installed software package to enable functions. In someexamples, the software package corresponds to one or more functions andcan be executed by the machine controller to enable use of the one ormore functions on the power machine. In some examples, the softwarepackage is stored on the computing device, and is downloaded to thecontroller(s) from the computing device. In some examples, the softwarepackage is stored in a remote data store (e.g., a server), and isretrieved from the remote data store. For example, the computing devicecan instruct the remote data store to download the software package tothe machine controller or can instruct the controller(s) to retrieve thesoftware package from the remote data store. In yet other examples,software packages can be resident on the machine controller but may beuninitialized so that the software packages are inoperable. In theseexamples, no downloading of software packages is necessary to enable afunction, except for data that may be used to initialize (oruninitialize) software packages already resident on the machinecontroller.

In some implementations, the machine controller can be configured toenable functions through interfaces integral to the power machine. Forexample, the power machine can include a display panel, which candisplay one or more interfaces that can be used to direct installation,(or uninstallation) and/or initialization (or uninitialization) ofsoftware packages. In some examples, a software package that is to beinstalled on a controller can be retrieved from a remote data store. Forexample, in response to user instructions through the interface, thesoftware package can be retrieved from the remote data store by acontroller of the power machine (e.g., over an Internet connection). Insome examples, a software package that is to be installed on acontroller can be provided from local storage. For example, a localstorage device (e.g., USB stick, SD card, computing device) can have thesoftware package stored thereon, and can interface with the powermachine (e.g., be plugged into a USB port, or SD card slot), and thesoftware package can be retrieved therefrom.

In some implementations, the machine controller requests permissionbefore receiving and installing, and/or initializing a software package.For example, in response to user instructions to install/uninstalland/or initializing/uninitializing a software package, the machinecontroller can request permission from a remote server. In someexamples, the request can include an identifier of the power machine(e.g., a unique identifier identifying the power machine), an identifierof the software package (e.g., a unique identifier identifying thesoftware package, a filename and/or version of the software package) tobe downloaded and/or initialized, and one or more credentials of theuser (e.g., username, password, PIN, or an identifier from a tool thatmay be coupled to the controller for the purposes of enabling a softwarepackage on the machine controller). In some examples, the remote servercan process data included in the request to determine whether to grantor deny permission. For example, the remote server can compare thecredentials of the user to know credentials, and determine whether theuser is authentic, and/or whether the user is permitted toinstall/uninstall software packages to power machines, generally, and/orto the particular power machine. In some examples, if permission isdenied, an alert can be provided back to the user. In some examples, ifpermission is granted, the software package can be enabled on themachine controller. In some examples, the software package can beenabled on the machine controller by providing an initializationindicator from the remote server to the machine controller. Theinitialization indicator, in some examples, is an indication such as anon/off bit of information. In some examples, the initializationindicator can be more complex, such as a software key that the machinecontroller can recognize as coming from a legitimate source. Theinitialization indicator is then stored on the machine controller tosignify that the software package is initialized.

In some implementations, after the software package has been enabled ordisabled on the machine controller, a central registry can be updated torecord the activity. In some implementations, the central registryincludes an inventory of power machines (e.g., indexed by uniqueidentifier), and, for each power machine, maintains a list of functionsthat are enabled, or not enabled on the respective power machine. Insome examples, the central registry maintains a history of functionenablement/disablement (e.g., a history of software packageinstallations, uninstallations, initializations, and/orun-initializations for each power machine), which can include, amongother information, the user performing the enablement or disablement,and the time and date of the enablement or disablement.

In some implementations, enablement of a software package can betemporary. In some examples, the software package can be enabled, andthe respective function enabled for a period of time, and then disabled.For example, an operator of the power machine can have the softwarepackage installed on the power machine to enable a respective function.After a period of time (e.g., hours, days, weeks, months, years), theoperator can determine that the function is no longer needed.Consequently, the operator can have the software package uninstalledfrom the power machine, and the function disabled. In some examples, theperiod of time can be a predetermined period of time. For example, thepower machine can have the software package installed on the powermachine to enable a respective function, and the installation can beassociated with a period of time (e.g., hours, days, weeks, months,years) or an amount of operation time on the machine (e.g., for acertain number of hours of machine operation). After expiration of theassociated period of time, the software package is disabled.Subsequently, if desired, the feature can be enabled using this sameprocess.

In some implementations, disablement of the software package isautomatic. For example, it can be determined that the period of time hasexpired, and in response, the controller can be triggered to uninstallor disable the software package. In some examples, the machinecontroller can determine that the period of time has expired and canautomatically uninstall or disable the software package. In someexamples, a central service (e.g., a server referencing the centralregistry) can determine that the period of time has expired, and caninteract with the machine controller (e.g., over an Internet connection)to disable the software package (e.g., instruct the controller touninstall the software package).

In some implementations, after the software package has been enabled onthe machine controller, the corresponding function(s) can be used by anoperator. For example, a power machine can be delivered (e.g., sent to adealer from a factory, sold to a customer, or otherwise be madeavailable in the field) absent a software package for the ride controlfunction. Post-delivery, it can be determined that one or more functionsare desired.

By way of a first non-limiting example, a customer can seek to purchasea power machine from a dealer but request a demonstration of the ridecontrol function. In response, the dealer can enable the ride controlfunction, as described herein. That is, for example, the dealer can usea computing device to have a software package corresponding to the ridecontrol function enabled on the power machine. The customer can test thepower machine with the ride control function. If the customer determinesthat they would like to purchase the power machine with the ridecontrol, the software package can remain enabled on the power machine.If the customer determine that they would not like the ride controlfunction, the software package can be disabled before delivery to thecustomer.

By way of a second non-limiting example, a customer can seek to rent apower machine from an operator. The customer can request both the ridecontrol function, and the multi-speed motor function. In response, theoperator can enable the ride control function, and the multi-speed motorfunction, as described herein. That is, for example, the dealer can usea computing device to have one or more software packages correspondingto the ride control function, and the multi-speed motor function enabledon the power machine. The customer can use the power machine with theride control function, and the multi-speed motor function over thecourse of the rental. Upon expiration of a rental period (e.g.,predetermined rental time expiring, power machine returned to operator),the software package(s) can be disabled from the power machine.

By way of a third non-limiting example, an owner of a power machine canhave purchased the power machine absent one or more functions (e.g.,absent the ride control function, and the multi-speed motor function).The owner can request both the ride control function, and themulti-speed motor function. For example, the owner can request thefunctions through the dealership, where the owner purchased the powermachine, or directly form the manufacturer of the power machine. Inresponse, the ride control function, and the multi-speed motor functioncan each be enabled, as described herein. That is, for example, a user(e.g., the dealer, the owner) can use a computing device to have one ormore software packages corresponding to the ride control function, andthe multi-speed motor function enabled on the power machine.

FIG. 6 depicts an example process 600 that can be executed in accordancewith implementations of the present disclosure. In some examples, theexample process 600 is executed as one or more computer-executableprograms executed by one or more computing devices. In some examples, atleast a portion of the example process 600 is executed by a computingdevice operated by a user. In some examples, at least a portion of theexample process 600 is executed by one or more servers.

A request is received (602). For example, a request to enable one ormore functions can be received. In some examples, a controller of apower machine requests permission before enabling or disabling asoftware package. For example, in response to user instructions toenable a software package, the power machine (e.g., the control system)can request permission from a remote server. In some examples, therequest can include an identifier of the power machine (e.g., a uniqueidentifier identifying the power machine), an identifier of the softwarepackage (e.g., a unique identifier identifying the software package, afilename and/or version of the software package), and one or morecredentials of the user (e.g., username, password, PIN). It isdetermined whether the requisite hardware is available (604). In someexamples, to execute a function, appropriate hardware is required. Ifthe particular power machine does not include the requisite hardware,the function cannot be performed, and the software package(s) need notbe enabled. In some examples, the identifier of the power machine can beused to index a list of available hardware on the power machine, anddetermined whether the requisite hardware for the associated function isprovided on the power machine. If the requisite hardware is notavailable, an error message can be sent (606). For example, a messagecan be provided to the user that submitted the request, indicating thatthe requisite hardware is not available.

If the requisite hardware is available, it is determined whetheractivation of the function(s) is authorized (608). In some examples, theremote server that received the request can process the credentials toauthenticate the user that submitted the request, and, if authenticated,determine whether the user is permissioned to install software packageson the power machine. If enablement of the function(s) is notauthorized, an error message can be sent (606). For example, if it isdetermined that the user is not authenticated, or is not permitted tohave software packages installed, the error message can be sent. Ifactivation of the function(s) is authorized, one or more softwarepackages are installed on one or more controllers of the power machine(610). In some examples, installation of the one or more softwarepackages includes download of the software package(s) to the powermachine, and execution of an installer to install the softwarepackage(s) on the controller(s). A central registry is updated (612).For example, the central registry can be updated to record installationof the particular software package(s) (e.g., type, time, date).

It is determined whether activation of the function(s) is time dependent(614). For example, and as described herein, a function can be providedfor a predetermined period of time. If enablement of the function(s) istime dependent, it is determined whether the period of time has expired(616). For example, it can be determined whether a current time exceedsthe predetermined period of time. If the period of time has not expired,the example process 600 loops back. If the period of time has expired,the software package(s) is/are disabled. For example, an uninstallprogram is executed to uninstall the software package(s) from thecontroller(s).

If activation of the function(s) is not time dependent, it is determinedwhether the software package(s) is/are to be disabled (620). Forexample, a user of the power machine can later determine that they nolonger want the one or more functions and can request that thecorresponding software packages be disabled. If the software package(s)is/are to be disabled, the software package(s) is/are disabled (618).Otherwise, the example process 600 loops back.

A message is sent (622). For example, a confirmation message can be sentto a user either performing the disablement, or an owner/operator of thepower machine indicating that the software package(s) has/have beendisabled. The central registry is updated (624). For example, thecentral registry can be updated to record disablement of the particularsoftware package(s) (e.g., type, time, date).

Several implementations have been described. Nevertheless, it will beunderstood that various modifications may be made without departing fromthe spirit and scope of the disclosure. For example, various forms ofthe flows shown above may be used, with steps re-ordered, added, orremoved. Accordingly, other implementations are within the scope of thefollowing claims.

What is claimed is:
 1. An initialization system for a power machinehaving hardware physically capable of executing at least one function,comprising: a machine controller having a non-volatile memory storing: asoftware package with instructions that, when executed, can control theat least one function, the software package being installed anduninitialized, such that the instructions cannot be executed by themachine controller to control the at least one function; and acommunication link capable of establishing communication with a remotesystem to receive an initialization indicator, the machine controllerinitializing the software package in response to the initializationindicator, such that the machine controller is enabled to execute theinstructions of the software package to control the at least onefunction.
 2. The initialization system of claim 1, wherein the requestcomprises one or more of an identifier of the power machine, anidentifier of the software package, and one or more credentials of auser.
 3. The initialization system of claim 1, wherein the machinecontroller subsequently disables the software package.
 4. Theinitialization system of claim 3, wherein disabling the software packageis executed in response to one of expiration of a period of time and auser request.
 5. The initialization system of claim 4, wherein theinitialization indicator includes the period of time.
 6. Theinitialization system of claim 1, wherein the software package isexecuted in response to determining that the power machine includes thehardware.
 7. The initialization system of claim 1, wherein the hardwarecomprises at least one of ride control hardware and a variabledisplacement hydraulic motor.
 8. The initialization system of claim 1,wherein at least a portion of the communication link is removablyattached to the power machine.
 9. The initialization system of claim 8,wherein the communication link includes a controller in wirelesscommunication with the portion of the communication link that isremovably attached to the power machine.
 10. The initialization systemof claim 1, wherein the communication link is fixed to the powermachine.
 11. A method, comprising: transmitting a request for aninitialization indicator for a software package for a power machinecomprising hardware physically capable of executing at least onefunction, the software package being installed and uninitialized, suchthat the software package cannot be executed by a machine controller tocontrol the at least one function; communicating, by a communicationlink of an initialization system, the initialization indicator to themachine controller; and in response to receiving the initializationindicator: initializing the software package to enable execution of thesoftware function by the machine controller, and executing, by themachine controller, the software package to control the at least onefunction.
 12. The method of claim 11, wherein the request comprises oneor more of an identifier of the power machine, an identifier of thesoftware package, and one or more credentials of a user.
 13. The methodof claim 11, further comprising subsequently disabling the softwarepackage.
 14. The method of claim 13, wherein disabling the softwarepackage is executed in response to one of expiration of a period of timeand a user request.
 15. The method of claim 11, wherein the hardwarecomprises at least one of ride control hardware and a variabledisplacement hydraulic motor.
 16. The method of claim 11, furthercomprising storing information related to communication of theinitialization indicator to a central registry.
 17. A non-transitorycomputer-readable storage medium coupled to one or more processors andhaving instructions stored thereon which, when executed by the one ormore processors, cause the one or more processors to perform operationscomprising: transmitting a request for an initialization indicator for asoftware package for a power machine comprising hardware physicallycapable of executing at least one function, the software package beinginstalled and uninitialized, such that the software package cannot beexecuted by a machine controller to control the at least one function;communicating, by a communication link of an initialization system, theinitialization indicator to the machine controller; and in response toreceiving the initialization indicator: initializing the softwarepackage to enable execution of the software function by the machinecontroller, and executing, by the machine controller, the softwarepackage to control the at least one function.
 18. The non-transitorycomputer-readable storage medium of claim 17, wherein the requestcomprises one or more of an identifier of the power machine, anidentifier of the software package, and one or more credentials of auser.
 19. The non-transitory computer-readable storage medium of claim17, wherein the operations further comprise subsequently disabling thesoftware package.